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Share-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Common stock remained available for future issuance | 792,858 |  | 792,858 |
Stock compensation expense | $ 1,218 | $ 1,057 | $ 3,858 | $ 3,338
Number of shares reserved for issuance | 430,612 |  | 430,612 |
Shares issued |  |  | 216,506 |
Exercise price of options granted |  |  | $ 1.67 |
Description of offering period under plan |  |  | ESPP provides for successive six-month offering periods beginning on September 1st and March 1st of each year. |
Options and Restricted Stock Units (RSUs) |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Remaining unrecognized share based compensation expense for options and restricted stock units | $ 7,500 |  | $ 7,500 |
Amortized to expense period |  |  | 2 years 3 months 18 days |
Bonus-To-Options Program |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock compensation expense | $ 200 | $ 200 | $ 400 | $ 200
Exercise price of options granted |  |  | $ 1.46 |

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